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  • TMCL: Interrupt Input Change

    TMCL is the simple way to implement your motion control application. With this series of simple coding examples we want to provide you an easy start.

    This programs demonstrates how to the interupt on an input change. The behaviour of this program is the same as EX0008. Depending on the status of Port IN_0 is motor 0 turning right (IN_0 = 0) or turning left (IN_0 = 1).

    Before use: Restore Factory Defaults

    // *** Values that have to be adapted *** //
    amax = 1000					//max. acceleration (0 ... 2047)
    vmax = 2000					//max. speed (0 ... 2047)
    cmax = 100					//max. current (0 ... 255)
    
    // *** Initialization / Set up axis parameter *** //
    SAP 5, 0, amax				//set max. acceleration
    SAP 6, 0, cmax    			//set max. current
    
    // *** Interrupt initialization *** //
    VECT 39, changeRotation 	//define the interrupt vector for input change 0 interrupt (IN_0)
    SGP 39, 3, 3 				//configure interrupt to trigger on both edge of input 0 (0=off,1=low-high,2=high-low,3=both)
    EI 39 						//enable input change 0 interrupt (IN_0)
    EI 255 						//globally switch on interrupt processing
    
    // *** Main Loop *** //
    loop:						//infinite loop
    	JA loop					//jump to loop
    
    changeRotation:
    	GIO 0, 0    			//read IN_0
    	COMP 0					//compare with 0
    	JC EQ, turnRight		//if equal jump to turn right
    	ROL 0, vmax				//if not equal turn left at vmax
    	RETI					//end of interrupt
    turnRight:
    	ROR 0, vmax				//turn right at vmax
    	RETI					//end of interrupt

    For more details look at TMCL_reference.pdf  at http://www.trinamic.com/software-tools/tmcl-ide

    This sample is tested with TMCM-1140, TMCM-1161, TMCM-6110.

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    Related

    December 10, 2015 / Jonas P. Proeger / 0

    Categories: Code Snippet, Tutorial

    Tags: digital input, input, interrupt, TMCL

    TMCL: Using the stallGuard Interrupt Silent Night: TRAMS 3D Printer Board for Holiday Tinkering Season

    Comments are currently closed.

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